EECS 373Design of Microprocessor-Based Systems

Thomas SchmidUniversity of Michigan

Lecture 12: Wireless CommunicationOctober 14, 2010

1

Minute Quiz...

2

Announcements

• How do we deal with virtual timers that are close together?– Keep time running while executing current handler– When handler returns, check for time and the next virtual timer– If it is time, execute the next handler. Else, set the HW timer

4

Inter-Integrated Circuit - I2C

• What is the simplest way to connect many serial devices with just 2 wires?

• Addressing of chips• Message acknowledgment• Single master - multiple slave• Multiple master - multiple slave

• Two bi-directional open-drain lines SDA, SCL– Pull-up resistors to Vcc

• 7-bit address space with 16 addresses reserved

5

I2C

6

Dual, 256-Tap, Volatile, Low-Voltage Linear Taper Digital Potentiometer

MA

X5

38

7

______________________________________________________________________________________ 11

Message Format for WritingWrite to the devices by transmitting the device’s slave address with NOP/W (eighth bit) set to zero, followed by at least 2 bytes of information. The first byte of informa-tion is the command byte. The second byte is the data byte. The data byte goes into the internal register of the device as selected by the command byte (Figure 7 and Table 2).

Command ByteUse the command byte to select the destination of the wiper data. See Table 2.

Command DescriptionsREG A: The data byte writes to register A and the wiper of potentiometer A moves to the appropriate position. D[7:0] indicates the position of the wiper. D[7:0] = 00h

moves the wiper to the position closest to LA. D[7:0] = FFh moves the wiper to the position closest to HA. D[7:0] is 80h following power-on.

Table 1. Slave Addresses

Figure 6. Slave Address

Figure 7. Command and Single Data Byte Received

LSBMSBSTART

SDA

SCL

0 1 0 1 A2 A1 A0 ACKNOP/W

ADDRESS INPUTSSLAVE ADDRESS

A2 A1 A0GND GND GND 0101000GND GND VDD 0101001GND VDD GND 0101010GND VDD VDD 0101011VDD GND GND 0101100VDD GND VDD 0101101VDD VDD GND 0101110VDD VDD VDD 0101111

S 0 A A A P

ACKNOWLEDGE

NOP/W

HOW CONTROL BYTE AND DATABYTE MAP INTO DEVICE REGISTERS

ACKNOWLEDGE

R7 R6 R5 R4 R3 R2 R1 R0 D7 D6 D5 D4 D3 D2 D1 D0

SLAVE ADDRESS COMMAND BYTE 1 DATA BYTE

R/W

Dual, 256-Tap, Volatile, Low-Voltage Linear Taper Digital Potentiometer

MA

X5

38

7

______________________________________________________________________________________ 11

Message Format for WritingWrite to the devices by transmitting the device’s slave address with NOP/W (eighth bit) set to zero, followed by at least 2 bytes of information. The first byte of informa-tion is the command byte. The second byte is the data byte. The data byte goes into the internal register of the device as selected by the command byte (Figure 7 and Table 2).

Command ByteUse the command byte to select the destination of the wiper data. See Table 2.

Command DescriptionsREG A: The data byte writes to register A and the wiper of potentiometer A moves to the appropriate position. D[7:0] indicates the position of the wiper. D[7:0] = 00h

moves the wiper to the position closest to LA. D[7:0] = FFh moves the wiper to the position closest to HA. D[7:0] is 80h following power-on.

Table 1. Slave Addresses

Figure 6. Slave Address

Figure 7. Command and Single Data Byte Received

LSBMSBSTART

SDA

SCL

0 1 0 1 A2 A1 A0 ACKNOP/W

ADDRESS INPUTSSLAVE ADDRESS

A2 A1 A0GND GND GND 0101000GND GND VDD 0101001GND VDD GND 0101010GND VDD VDD 0101011VDD GND GND 0101100VDD GND VDD 0101101VDD VDD GND 0101110VDD VDD VDD 0101111

S 0 A A A P

ACKNOWLEDGE

NOP/W

HOW CONTROL BYTE AND DATABYTE MAP INTO DEVICE REGISTERS

ACKNOWLEDGE

R7 R6 R5 R4 R3 R2 R1 R0 D7 D6 D5 D4 D3 D2 D1 D0

SLAVE ADDRESS COMMAND BYTE 1 DATA BYTE

A3

Dual, 256-Tap, Volatile, Low-Voltage Linear Taper Digital Potentiometer

MA

X5

38

7

______________________________________________________________________________________ 11

Message Format for WritingWrite to the devices by transmitting the device’s slave address with NOP/W (eighth bit) set to zero, followed by at least 2 bytes of information. The first byte of informa-tion is the command byte. The second byte is the data byte. The data byte goes into the internal register of the device as selected by the command byte (Figure 7 and Table 2).

Command ByteUse the command byte to select the destination of the wiper data. See Table 2.

Command DescriptionsREG A: The data byte writes to register A and the wiper of potentiometer A moves to the appropriate position. D[7:0] indicates the position of the wiper. D[7:0] = 00h

moves the wiper to the position closest to LA. D[7:0] = FFh moves the wiper to the position closest to HA. D[7:0] is 80h following power-on.

Table 1. Slave Addresses

Figure 6. Slave Address

Figure 7. Command and Single Data Byte Received

LSBMSBSTART

SDA

SCL

0 1 0 1 A2 A1 A0 ACKNOP/W

ADDRESS INPUTSSLAVE ADDRESS

A2 A1 A0GND GND GND 0101000GND GND VDD 0101001GND VDD GND 0101010GND VDD VDD 0101011VDD GND GND 0101100VDD GND VDD 0101101VDD VDD GND 0101110VDD VDD VDD 0101111

S 0 A A A P

ACKNOWLEDGE

NOP/W

HOW CONTROL BYTE AND DATABYTE MAP INTO DEVICE REGISTERS

ACKNOWLEDGE

R7 R6 R5 R4 R3 R2 R1 R0 D7 D6 D5 D4 D3 D2 D1 D0

SLAVE ADDRESS COMMAND BYTE 1 DATA BYTE

A4

Dual, 256-Tap, Volatile, Low-Voltage Linear Taper Digital Potentiometer

MA

X5

38

7

______________________________________________________________________________________ 11

Message Format for WritingWrite to the devices by transmitting the device’s slave address with NOP/W (eighth bit) set to zero, followed by at least 2 bytes of information. The first byte of informa-tion is the command byte. The second byte is the data byte. The data byte goes into the internal register of the device as selected by the command byte (Figure 7 and Table 2).

Command ByteUse the command byte to select the destination of the wiper data. See Table 2.

Command DescriptionsREG A: The data byte writes to register A and the wiper of potentiometer A moves to the appropriate position. D[7:0] indicates the position of the wiper. D[7:0] = 00h

moves the wiper to the position closest to LA. D[7:0] = FFh moves the wiper to the position closest to HA. D[7:0] is 80h following power-on.

Table 1. Slave Addresses

Figure 6. Slave Address

Figure 7. Command and Single Data Byte Received

LSBMSBSTART

SDA

SCL

0 1 0 1 A2 A1 A0 ACKNOP/W

ADDRESS INPUTSSLAVE ADDRESS

A2 A1 A0GND GND GND 0101000GND GND VDD 0101001GND VDD GND 0101010GND VDD VDD 0101011VDD GND GND 0101100VDD GND VDD 0101101VDD VDD GND 0101110VDD VDD VDD 0101111

S 0 A A A P

ACKNOWLEDGE

NOP/W

HOW CONTROL BYTE AND DATABYTE MAP INTO DEVICE REGISTERS

ACKNOWLEDGE

R7 R6 R5 R4 R3 R2 R1 R0 D7 D6 D5 D4 D3 D2 D1 D0

SLAVE ADDRESS COMMAND BYTE 1 DATA BYTE

A5

Dual, 256-Tap, Volatile, Low-Voltage Linear Taper Digital Potentiometer

MA

X5

38

7

______________________________________________________________________________________ 11

Message Format for WritingWrite to the devices by transmitting the device’s slave address with NOP/W (eighth bit) set to zero, followed by at least 2 bytes of information. The first byte of informa-tion is the command byte. The second byte is the data byte. The data byte goes into the internal register of the device as selected by the command byte (Figure 7 and Table 2).

Command ByteUse the command byte to select the destination of the wiper data. See Table 2.

Command DescriptionsREG A: The data byte writes to register A and the wiper of potentiometer A moves to the appropriate position. D[7:0] indicates the position of the wiper. D[7:0] = 00h

moves the wiper to the position closest to LA. D[7:0] = FFh moves the wiper to the position closest to HA. D[7:0] is 80h following power-on.

Table 1. Slave Addresses

Figure 6. Slave Address

Figure 7. Command and Single Data Byte Received

LSBMSBSTART

SDA

SCL

0 1 0 1 A2 A1 A0 ACKNOP/W

ADDRESS INPUTSSLAVE ADDRESS

A2 A1 A0GND GND GND 0101000GND GND VDD 0101001GND VDD GND 0101010GND VDD VDD 0101011VDD GND GND 0101100VDD GND VDD 0101101VDD VDD GND 0101110VDD VDD VDD 0101111

S 0 A A A P

ACKNOWLEDGE

NOP/W

HOW CONTROL BYTE AND DATABYTE MAP INTO DEVICE REGISTERS

ACKNOWLEDGE

R7 R6 R5 R4 R3 R2 R1 R0 D7 D6 D5 D4 D3 D2 D1 D0

SLAVE ADDRESS COMMAND BYTE 1 DATA BYTE

A6 A2 A1 A0 ACK

Dual, 256-Tap, Volatile, Low-Voltage Linear Taper Digital Potentiometer

MA

X5

38

7

______________________________________________________________________________________ 11

Message Format for WritingWrite to the devices by transmitting the device’s slave address with NOP/W (eighth bit) set to zero, followed by at least 2 bytes of information. The first byte of informa-tion is the command byte. The second byte is the data byte. The data byte goes into the internal register of the device as selected by the command byte (Figure 7 and Table 2).

Command ByteUse the command byte to select the destination of the wiper data. See Table 2.

Command DescriptionsREG A: The data byte writes to register A and the wiper of potentiometer A moves to the appropriate position. D[7:0] indicates the position of the wiper. D[7:0] = 00h

moves the wiper to the position closest to LA. D[7:0] = FFh moves the wiper to the position closest to HA. D[7:0] is 80h following power-on.

Table 1. Slave Addresses

Figure 6. Slave Address

Figure 7. Command and Single Data Byte Received

LSBMSBSTART

SDA

SCL

0 1 0 1 A2 A1 A0 ACKNOP/W

ADDRESS INPUTSSLAVE ADDRESS

A2 A1 A0GND GND GND 0101000GND GND VDD 0101001GND VDD GND 0101010GND VDD VDD 0101011VDD GND GND 0101100VDD GND VDD 0101101VDD VDD GND 0101110VDD VDD VDD 0101111

S 0 A A A P

ACKNOWLEDGE

NOP/W

HOW CONTROL BYTE AND DATABYTE MAP INTO DEVICE REGISTERS

ACKNOWLEDGE

R7 R6 R5 R4 R3 R2 R1 R0 D7 D6 D5 D4 D3 D2 D1 D0

SLAVE ADDRESS COMMAND BYTE 1 DATA BYTE

R/W

Dual, 256-Tap, Volatile, Low-Voltage Linear Taper Digital Potentiometer

MA

X5

38

7

10 _____________________________________________________________________________________

Figure 3. START and STOP Conditions

Figure 4. Bit Transfer

Figure 5. Acknowledge

Bit TransferOne data bit is transferred during each clock pulse. The data on the SDA line must remain stable while SCL is high. See Figure 4.

AcknowledgeThe acknowledge bit is a clocked 9th bit that the recipi-ent uses to handshake receipt of each byte of data. See Figure 5. Each byte transferred requires a total of nine bits. The master controller generates the 9th clock pulse, and the recipient pulls down SDA during the acknowl-edge clock pulse, so the SDA line remains stable low during the high period of the clock pulse.

Slave AddressThe MAX5387 includes a 7-bit slave address (Figure 6). The 8th bit following the 7th bit of the slave address is the NOP/W bit. Set the NOP/W bit low for a write command and high for a no-operation command. The device does not support readback.

The device provides three address inputs (A0, A1, and A2), allowing up to eight devices to share a common bus (Table 1). The first 4 bits (MSBs) of the factory-set slave addresses are always 0101. A2, A1, and A0 set the next 3 bits of the slave address. Connect each address input to VDD or GND. Each device must have a unique address to share a common bus.

P

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CHANGE OFDATA ALLOWED

9821

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CLOCK PULSE FORACKNOWLEDGMENT

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ACKNOWLEDGE

StopCondition

How can we cut the cord?

7

Modulation is Key to Wireless Communication

• Transmit information over an analog pass-band channel• AM/FM Modulation

8

• Alphabet of M=2N alternative symbols, each of size N• If we have fs S/s, the data rate is N·fs bits/s• Fundamental Digital Modulation

• Phase-Shift Keying (PSK)• Frequency-Shift Keying (FSK)• Amplitude-Shift Keying (ASK)• Quadrature Amplitude Modulation (QAM)

Phase Shift Keying

• Binary PSK (BPSK) M=2• Quadrature PSK (QPSK) M=4• 8PSK (M=8), 16PSK (M=16)• Differential PSK (DPSK) Differential QPSK (DQPSK)• Offset QPSK (OQPSK)

9

O-QPSK Constellation

BPSK Constellation

Figures from wikipedia.org

Quadrature Amplitude Modulation

• Adds amplitude modulation to phase shift keying

10

16-QAM Constelation

11

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RADIO-LOCATION RADIO-

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Radio-location

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Radio-location

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ISM – 6.78 ± .015 MHz ISM – 13.560 ± .007 MHz ISM – 27.12 ± .163 MHz

ISM – 40.68 ± .02 MHz

ISM – 24.125 ± 0.125 GHz 30 GHz

ISM – 245.0 ± 1GHzISM – 122.5 ± .500 GHzISM – 61.25 ± .250 GHz

300.

0

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931

932

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1215

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2000

2020

2025

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2155

2160

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2300

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2310

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2360

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4.4

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4.8

4.94

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5.0

5.15

5.25

5.35

5.46

5.47

5.6

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5.83

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9.3

9.5

10.0

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10.6

10.6

8

10.7

11.7

12.2

12.7

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17.3

17.7

17.8

18.3

18.6

18.8

19.3

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20.1

20.2

21.2

21.4

22.0

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122

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23.5

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32.0

32.3

33.0

33.4

36.0

37.0

37.6

38.0

38.6

39.5

40.0

40.5

41.0

42.5

43.5

45.5

46.9

47.0

47.2

48.2

50.2

50.4

51.4

52.6

54.2

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56.9

57.0

58.2

59.0

59.3

64.0

65.0

66.0

71.0

74.0

75.5

76.0

77.0

77.5

78.0

81.0

84.0

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92.0

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PLEASE NOTE: THE SPACING ALLOTTED THE SERVICES IN THE SPEC-TRUM SEGMENTS SHOWN IS NOT PROPORTIONAL TO THE ACTUAL AMOUNTOF SPECTRUM OCCUPIED.

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U.S. DEPARTMENT OF COMMERCENational Telecommunications and Information AdministrationOffice of Spectrum Management

October 2003

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0 10 Hz 100 Hz 1 kHz 10 kHz 100 kHz 1 MHz 10 MHz 100 MHz 1 GHz 10 GHz 100 GHz 1 THz 1013Hz 1014Hz 1015Hz 1016Hz 1017Hz 1018Hz 1019Hz 1020Hz 1021Hz 1022Hz 1023Hz 1024Hz 1025Hz

THE RADIO SPECTRUMMAGNIFIED ABOVE3 kHz 300 GHz

VERY LOW FREQUENCY (VLF)Audible Range AM Broadcast FM Broadcast Radar Sub-Millimeter Visible Ultraviolet Gamma-ray Cosmic-ray

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This chart is a graphic single-point-in-time portrayal of the Table of Frequency Allocations used by theFCC and NTIA. As such, it does not completely reflect all aspects, i.e., footnotes and recent changesmade to the Table of Frequency Allocations. Therefore, for complete information, users should consult theTable to determine the current status of U.S. allocations.

Why should you care about Wireless Embedded Systems?

12

Digital Radio

13

Source

Source

Source

Destination

Destination

Destination

Multiplex

Demultiplex

MAC

MAC

Modulator

Demodulator

Power Amp

Radio Channel

RF Filter

Carrier Frequency f0

Carrier Frequency f0

Limited bandwidthTime dependent

Noisy

Radio Channel

• Path loss proportional to 1/dn

• Typical path loss constants

• Problems– Channel is time-varying and can be significantly different for nodes at

the same distance– Link can even be asymmetric, i.e., the link between node 1 and 2 is

different than the one from node 2 to 114

Environment nFree Space 2Urban area cellular radio 2.7-3.5Shadowed urban cellular radio 3 - 5In-building Line of Sight 1.6 to 1.8Obstructed in building 4 to 6Obstructed in factories 2 to 3

No Disk Model Connectivity

• Hidden Terminal Problem

15

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Zhou et al, Impact of Radio Irregularity on Wireless Sensor Networks

16 meters

13 meters

Taxonomy of MAC Protocols

• Random-access vs. Scheduled • Time Slotted vs. Non-slotted• Peer-to-peer vs. Master-slave• MAC level retransmission

16Adapted from M. Srivastava EE202B Lecture

Some Common Examples

• ALOHA– Random, slot-less or slotted, peer-to-peer

• IEEE 802.11 infrastructure DCF and ad-hoc mode – Carrier Sense Multiple Access With Collision Avoidance (CSMA/CA)– Random, slot-less, peer-to-peer

• IEEE 802.11 infrastructure PCF– Scheduled (polling), slot-less, master

• Bluetooth Piconets– Scheduled (polling), time-slot (with frequency hopping), master

• Time Division Multiple Access (TDMA)• Code Division Multiple Access (CDMA)

17

Multi-Hop Routing

• Different protocols and algorithms for different goals• Any-to-any routing

– DSDV, DSR, AODV

• Geographic Routing– Nodes know their own and their neighbor location– Address is physical location of node– Forward to neighbor closest to address

• Directed Diffusion– Data, not node, centric– Nodes publish data, users subscribe

• Flooding, Gossiping, Trickle• Collection• IPv6 LoWPAN RPL (‘ripple’)

– proactive distance vector approach– optimized for low-power networks 18Ack: Culler, MobiHoc ‘05

Power Aware MAC Protocols

19

TI CC2520, TI MSP430, Actel SmartFusionPower Comparison

• TI CC2520– RX 18.5mA– TX 33.6 mA @ +5 dBm, 25.8 mA @ 0 dBm– < 1 uA in power down

• TI MSP430F5437A– Active Mode: 5.7 mA, 3.0 V @ 25 MHz– Standby Mode: 2.1 uA, 3.0 V

• Actel SmartFusion– MSS running at 100 MHz, 40 mA– MSS in WFI at 100 MHz, 20 mA– Stand By: 3 mA on 1.5 V, 1 mA on 3.3 V– Time Keeping: 10 uA on 3.3 V

20

Time is Energy

21

Time Uncertainty Problem

Asynchronous Approach

(long preambles: e.g. 1212B @ 2.2%)

Synchronous Approach

(frequent sync packets: e.g. every 15s)

Adapted from M. Srivastava EE202B Lecture

Receiver Initiated MACs

22

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!

TI CC2520 Power States

cc2520driver.h! RX RadioState_turnOn()

! Active RadioState_standby()

! LPM1 RadioState_turnOff()

! LPM2 Not implemented yet RadioState_shutdown()

25

!

CC2520 DATASHEET 2.4 GHZ IEEE 802.15.4/ZIGBEE® RF TRANSCEIVER SWRS068 – DECEMBER 2007

!

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12 Power Modes $$%&%#!'()!*'+,,!-./,+!0.1,)!()!1,)2+34,1!4,5./6!78!(55!*',),!-./,+!0.1,)!*',!)9--5:!;.5*(?@%M!(55!+,

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TI CC2520 Power States (2)

• Switching state is NOT instantaneous• Depends on

– Radio hardware switch on/off times (e.g. crystal bootup)– SPI communication speed for initial configuration after shutdown

• Power Draw– RX: 18.5mA– TX: 33.6 mA @ +5 dBm– Active Mode: 1.6 mA– LPM1: 175 uA– LPM2: 30 nA

• Wake-Up and Timing– LPM2 ! Active Mode: 0.3 ms (regulator + XOSC startup time)– LPM1 ! Active Mode: 0.2 ms (XOSC startup time)– AM ! RX or TX: 192 us– DOES NOT INCLUDE SPI TRANSFERS!

26

TI 2520 Driver Bootup

27

Turn On Radio

Initialize Radio AM ! RX

Mostly driver limitations, and slow SPI Clock @ 160kHz

TI CC2520 Extra Features

• Received Signal Strength RSSI– 8-bit signed – Calculated for every packet receivedvoid Radio_receive(uint8_t seqn, uint16_t panid, uint16_t saddr, uint16_t daddr, uint8_t* payload, uint8_t length, int8_t rssi);

– Approximately related to received signal power asP = RSSI - OFFSET [dBm]where OFFSET ! 76 dBm

• CCA– Clear channel assessment– Measures noise level of RF channel– High noise level indicates on-going communication– Implemented, but not exported in current driver

• Many many more features– See TI CC2520 Datasheet

http://focus.ti.com/lit/ds/symlink/cc2520.pdf28

Radio Modules

• IEEE 802.15.4 Radios– X-Bee

• Out-of-the-box RF communication• Serial UART interface (API or AT Commands)

– Atmel AT86RF230– STM32W (Cortex-M3 & Radio on a chip)

• ANT– e.g. Nordic nRF24AP1 or nRF24AP2– Nike+ and in many iPhones/iPods

• WiFi– DigiConnect ME WiFi

• Cellular– Telit GM862, GSM/GPRS & GPS– Runs Python Scripts

• RFID, DASH7, Bluetooth, Z-wave, RuBee, NFC29

Some References

• Prabal Dutta, Stephen Dawson-Haggerty, Yin Chen, Chieh-Jan Mike Liang, and Andreas Terzis, “Design and Evaluation of a Versatile and Efficient Receiver-Initiated Link Layer for Low-Power Wireless,” ACM Sensys 2010 (http://www.eecs.umich.edu/~prabal/teaching/eecs373-f10/readings/p101-dutta.pdf)

• Joseph Polastre, Jonathan Hui, Philip Levis, Jerry Zhao, David Culler, Scott Shenker, and Ion Stoica, “A Unifying Link Abstraction for Wireless Sensor Networks,” Sensys 2005

• Gahng-Seop Ahn, Emiliano Miluzzo, Andrew T. Campbell, Se Gi Hong, Francesca Cuomo, “Funneling-MAC: A Localized, Sink-Oriented MAC for Boosting Fidelity in Sensor Networks,” ACM Sensys 2006.

• Kevin Klues, Gregor y Hackmann, Octav Chipara, Chenyang Lu, “A Component-Based Architecture for Power-Efficient Media Access Control in Wireless Sensor Networks,” ACM SenSys 2007.

• Nicolas Burri, Pascal von Rickenbach, and Roger Wattenhofer, “Dozer: Ultra-Low Power Data Gathering in Sensor Networks,” ACM/IEEE IPSN 2007.

• Wei Ye, Fabio Silva, and John Heidemann, “Ultra-Low Duty Cycle MAC with Scheduled Channel Polling,” ACM Sensys 2006.

• M. Buettner, G. Yee, E. Anderson, R. Han, “X-MAC: A Short Preamble MAC Protocol for Duty-Cycled Wireless Sensor Networks,” ACM Sensys 2006.

• Amre El-Hoiydi and Jean-Dominique Decotignie, “WiseMAC: An Ultra Low Power MAC Protocol for Multi-hop Wireless Sensor Networks,” First International Workshop on Algorithmic Aspects of Wireless Sensor Networks (Algosensors 2004), July 2004.

• S. Ganeriwal, I. Tsigkogiannis, H. Sim, V. Tsiatsis, M. B. Srivastava, and D. Ganesan, “Estimating Clock Uncertainty for Efficient Duty-Cycling in Sensor Networks,” IEEE/ACM Transactions on Networking, 2008. (Accepted)

• J. Polastre, J. Hill, D. Culler, "Versatile Low Power Media Access for Wireless Sensor Networks," ACM Sensys 2004.

30